Adaptive control scheme for a robot manipulator: direct decoupler and PID controller
作者:
F. C. TENG,
G. F. LEDWICH,
G. SHANNON,
期刊:
International Journal of Systems Science
(Taylor Available online 1993)
卷期:
Volume 24,
issue 2
页码: 315-327
ISSN:0020-7721
年代: 1993
DOI:10.1080/00207729308949491
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
A two level adaptive controller for the control of a high speed robot is proposed. Dynamic interaction effects of the robot system are eliminated by applying a centralized adaptive multivariable decoupler. Decentralized adaptive PID controllers stabilize and eliminate the static positioning errors of the robot system. No prior knowledge of robot dynamics is required for this scheme. Output transients caused by sensitivity to the system parameter variations is reducible by adjusting the gain constants of the decoupler. Computation load for the implementation of the decoupler is minimal due to its direct nature, The effectiveness of the scheme is demonstrated by simulation results in high speed repetitive motion trackings and load change conditions.
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